KR20190072120A - Vehicle and method for controlling speed thereof - Google Patents

Abstract

According to an embodiment of the present invention, a vehicle comprises: a dual clutch transmission that adjusts a travel speed of the vehicle based on clutch torque; a brake that makes the vehicle slow down to reduce the travel speed of the vehicle; and a controller that sets a target speed of the vehicle and controls the dual clutch transmission and the brake so that the travel speed of the vehicle follows the set target speed.

Description

[0001] VEHICLE AND METHOD FOR CONTROLLING SPEED THEREOF [0002]

The present invention relates to a vehicle and its speed control method, and more particularly to a vehicle and a method of controlling its speed during an autonomous parking operation.

In the case of a vehicle to which an automatic transmission of the fluid torque converter type is applied, the torque of the engine is transmitted through the fluid. Therefore, even when the vehicle is stopped or traveling at a very low speed (0 to 4 kph), it is possible to engage the first stage, so that the engine start is stable and sufficient torque is generated, so that efficient vehicle speed control is possible even during autonomous parking operation of the vehicle.

On the other hand, in the case of a vehicle equipped with a dual clutch transmission (DCT), the half-clutch is maintained at a very low speed due to the direct frictional clutch control. Therefore, when the clutch is fully engaged in a situation where the friction heat of the clutch rapidly increases and the vehicle is stopped or travels at a low speed, there is a problem that the starting becomes unstable.

An object of the present invention is to provide a vehicle capable of reducing the heat generation of the dual clutch and a method of controlling the speed of the vehicle.

The technical problems of the present invention are not limited to the above-mentioned technical problems, and other technical problems which are not mentioned can be understood by those skilled in the art from the following description.

A vehicle according to an embodiment of the present invention includes a dual clutch transmission for adjusting a running speed of a vehicle based on a clutch torque, a braking device for braking the vehicle to reduce the running speed of the vehicle, And a controller for controlling the dual clutch transmission and the braking device such that the running speed of the vehicle follows the set target speed.

In one embodiment, the target speed may be defined as a speed lower than the creep running speed of the vehicle.

In one embodiment, the controller controls the dual clutch transmission to increase the clutch torque when the running speed of the vehicle is less than the target speed, and decreases the clutch torque when the speed of the vehicle is equal to or greater than the target speed So as to control the dual clutch transmission.

In one embodiment, the braking device is capable of braking the vehicle by regulating the braking pressure.

In one embodiment, the controller controls the braking device to reduce the braking pressure by a first level when the running speed of the vehicle is less than the target speed, and when the running speed of the vehicle is equal to or more than the target speed, The braking device can be controlled to increase the dynamic pressure by a second level.

In one embodiment, the controller controls the braking device so as to reduce the braking pressure by a third level smaller than the first level when the speed of the vehicle is less than the target speed in a state where the vehicle is positioned in a downward slope region. can do.

In one embodiment, the controller can control the dual clutch transmission to further generate a first additional torque when the vehicle is located in an upward sloping section.

In one embodiment, the controller controls the braking device to decrease the braking pressure until the clutch torque increases and becomes equal to or higher than the first additional torque when the vehicle is located in the upward sloping section, The braking device can be controlled to release the braking pressure when the braking pressure exceeds the first additional torque.

In one embodiment, the controller may control the dual clutch transmission to decrease the clutch torque when the target speed of the vehicle is set to zero, and to control the braking device to increase the braking pressure.

In one embodiment, the controller may control the dual clutch transmission to further generate a second additional torque when the running speed of the vehicle is reduced in a section where the clutch torque is equal to or greater than a predetermined value.

A method for controlling a speed of a vehicle according to an embodiment of the present invention includes setting a target speed of a vehicle and setting a target speed of the vehicle based on the set target speed, And a step of controlling.

In one embodiment, the target speed may be defined as a speed lower than the creep running speed of the vehicle.

In one embodiment, the step of controlling the dual clutch transmission and the braking device such that the running speed of the vehicle follows the target speed on the basis of the set target speed may include: determining the clutch torque when the running speed of the vehicle is less than the target speed And to control the dual clutch transmission to decrease the clutch torque when the speed of the vehicle is equal to or greater than the target speed.

In one embodiment, the braking device is capable of braking the vehicle by regulating the braking pressure.

In one embodiment, the step of controlling the dual clutch transmission and the braking device such that the running speed of the vehicle follows the target speed on the basis of the set target speed may further include a step of, when the running speed of the vehicle is less than the target speed, The braking device may be controlled to reduce the braking pressure by a first level and to increase the braking pressure by a second level when the running speed of the vehicle is equal to or more than the target speed.

In one embodiment, the step of controlling the dual clutch transmission and the braking device such that the running speed of the vehicle follows the target speed based on the set target speed, And to control the braking device to reduce the braking pressure by a third level smaller than the first level when the target speed is lower than the target speed.

In one embodiment, the step of controlling the dual clutch transmission and the braking device such that the running speed of the vehicle follows the target speed based on the set target speed may further comprise the step of, when the vehicle is located in the upward sloping period, The dual clutch transmission may be controlled.

In one embodiment, the step of controlling the dual clutch transmission and the braking device such that the running speed of the vehicle follows the target speed based on the set target speed may include: increasing the clutch torque when the vehicle is positioned in the upward sloping period Control the braking device to decrease the braking pressure until the first additional torque becomes greater than or equal to the first additional torque, and to control the braking device to release the braking pressure when the clutch torque becomes equal to or greater than the first additional torque have.

In one embodiment, the step of controlling the dual clutch transmission and the braking device such that the running speed of the vehicle follows the target speed based on the set target speed may include: determining the clutch torque when the target speed of the vehicle is set to zero And to control the braking device to increase the braking pressure.

In one embodiment, the step of controlling the dual clutch transmission and the braking device such that the running speed of the vehicle follows the target speed based on the set target speed may include a step of controlling the running speed of the vehicle in a period in which the clutch torque is equal to or greater than a predetermined value And to control the dual clutch transmission to further generate a second additional torque if the second additional torque is decreased.

The vehicle and its speed control method according to an embodiment of the present invention can reduce the heat generation of the dual clutch.

The vehicle and its speed control method according to an embodiment of the present invention can cooperatively control the dual clutch transmission and the braking device to enable efficient speed control in an autonomous parking operation.

The vehicle and its speed control method according to an embodiment of the present invention can increase the commerciality of a vehicle equipped with an autonomous parking operation function.

1 shows a vehicle according to an embodiment of the present invention.
2 is a graph for explaining a speed control operation of a vehicle when the vehicle is located on a flat ground according to an embodiment of the present invention.
3 is a graph for explaining a speed control operation of the vehicle when the vehicle is located at an upward slope according to an embodiment of the present invention.
4 is a graph for explaining a speed control operation of the vehicle when the vehicle is positioned at a downward slope according to an embodiment of the present invention.
5 is a flowchart illustrating a method of controlling a speed of a vehicle according to an embodiment of the present invention.
6 shows a vehicle according to another embodiment of the present invention.
7 is a flowchart illustrating a method of controlling a speed of a vehicle according to another embodiment of the present invention.
8 is a graph for explaining a speed control method of a vehicle according to another embodiment of the present invention.
9 is a block diagram illustrating a computing system for implementing a vehicle speed control method in accordance with an embodiment of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. It should be noted that, in adding reference numerals to the constituent elements of the drawings, the same constituent elements are denoted by the same reference symbols as possible even if they are shown in different drawings. In the following description of the embodiments of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the difference that the embodiments of the present invention are not conclusive.

In describing the components of the embodiment of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are intended to distinguish the constituent elements from other constituent elements, and the terms do not limit the nature, order or order of the constituent elements. Also, unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the relevant art and are to be interpreted in an ideal or overly formal sense unless explicitly defined in the present application Do not.

1 shows a vehicle according to an embodiment of the present invention. 2 is a graph for explaining a speed control operation of a vehicle when the vehicle is located on a flat ground according to an embodiment of the present invention. 3 is a graph for explaining a speed control operation of the vehicle when the vehicle is located at an upward slope according to an embodiment of the present invention. 4 is a graph for explaining a speed control operation of the vehicle when the vehicle is positioned at a downward slope according to an embodiment of the present invention.

Referring to FIG. 1, a vehicle 100 according to an embodiment of the present invention includes a dual clutch transmission 110, a braking device 120, a controller 130, a parking space searching unit 140, A unit 150, and a position recognition unit 160. [

The dual clutch transmission 110 may include a dual clutch 111 and a gear box 112. The dual clutch transmission 110 can directly or unlock the engine and the wheels of the vehicle depending on whether the dual clutch 111 is engaged or not. For example, when the dual clutch 111 is engaged, the driving force of the engine will be directly transmitted to the wheel through the gear box 112. If the dual clutch 111 is released, the driving force of the engine is transmitted to the wheel I will not.

The dual clutch transmission 110 may adjust the running speed of the vehicle based on the clutch torque. The dual clutch transmission 110 can adjust the driving force of the engine transmitted to the wheels of the vehicle 100 by controlling the clutch torque in response to the control of the controller 130. [ For example, the dual clutch transmission 110 may control the clutch torque so that the running speed of the vehicle follows the target speed set by the controller 130. [

The braking device 120 can reduce the running speed of the vehicle 100 by braking the vehicle 100. [ For example, the braking device 120 may braking the vehicle by regulating the braking pressure (i.e., the braking pressure).

The controller 130 can control the driving of the vehicle 100 and can control the overall operation of the internal configurations of the vehicle 100. [ For example, the controller 130 may control the autonomous parking operation of the vehicle 100. The controller 130 can control the autonomous parking operation of the vehicle 100 when an autonomous parking operation start command is received from the user. The controller 130 generates the parking space based on the parking space information searched by the parking space searching unit 140 and the current position of the vehicle 100 confirmed by the position recognizing unit 160 by the parking locus generating unit 150 It is possible to control the autonomous parking operation of the vehicle 100 by using the generated parking locus information.

The controller 130 can set the target speed of the vehicle 100 in the course of performing the autonomous parking operation of the vehicle 100. [ The controller 130 may control the dual clutch transmission 110 and the braking device 120 such that the traveling speed of the vehicle 100 in the course of performing the autonomous parking operation follows the set target speed. Here, the target speed may be defined as a speed lower than the creep running speed of the vehicle 100. [

The controller 130 determines whether the vehicle 100 is located in the flat section, the upward slope section, or the downward slope section based on the current position of the vehicle 100 identified through the position recognition section 160, So that the dual clutch transmission 110 and the braking device 120 can be controlled. Alternatively, the controller 130 determines whether the vehicle 100 is located in the flat section, the upward slope section, or the downward slope section using the sensing information obtained through various sensors (not shown) of the vehicle 100 .

2, the controller 130 controls the dual clutch transmission 110 and the braking device 120 so that the running speed of the vehicle 100 follows the target speed when the vehicle 100 is located in the flat section. Can be controlled.

2 (a) shows that the autonomous parking operation start command is received from the user from t1 to t8. (b), the solid line indicates the target speed of the vehicle 100, and the dotted line indicates the change in the running speed of the vehicle 100. [ (c) shows the braking pressure change of the braking device 120, (d) shows the change in the clutch torque, and (e) shows the temperature change of the clutch.

The vehicle 100 is controlled in a stationary state during the first period (t0 to t1). Thus, in the first section, the clutch torque can be controlled to be substantially close to zero, and the braking pressure can be controlled to the first level. As the autonomous parking operation start command is received from the user in the second time period (t1 to t2), the controller 130 sets the target speed and controls the dual clutch transmission 110 (110) to set the traveling speed of the vehicle 100 to follow the target speed And the braking device 120 can be controlled.

The controller 130 controls the dual clutch transmission 110 to increase the clutch torque when the running speed of the vehicle 100 is less than the target speed and controls the dual clutch transmission 110 to decrease the clutch torque when the running speed of the vehicle is equal to or higher than the target speed. The transmission 110 can be controlled. For example, the controller 130 may control the dual clutch transmission 110 to increase the clutch torque and control the braking device 120 such that the braking pressure decreases by a first level.

In the third period (t2 to t3), the controller 130 can control the braking device 120 to release the braking pressure. For example, releasing the braking pressure may mean controlling the braking pressure to zero. The controller 130 also controls the dual clutch transmission 110 to increase the clutch torque so that when the difference between the running speed of the vehicle 100 and the target speed is within a threshold value, The transmission 110 can be controlled.

The running speed of the vehicle 100 may exceed the target speed in the fourth period (t3 to t4). During the fifth period (t4 to t5), the controller 130 may control the braking device 120 to increase the braking pressure by a second level. Here, the second level may be defined as a value less than the first level, but is not limited thereto. Therefore, the traveling speed of the vehicle 100 in the sixth section (between t5 and t6) can be reduced.

The running speed of the vehicle 100 can be lowered again below the target speed in the seventh period (t6 to t7). In this case, the controller 130 controls the dual clutch transmission 110 so as to increase the clutch torque, and when the difference between the traveling speed of the vehicle 100 and the target speed is within the threshold value, The clutch transmission 110 can be controlled.

The running speed of the vehicle 100 in the eighth section (from t7 to t8) may be substantially equal to the target speed. In the ninth period (t8 to t9), the controller 130 decreases the clutch torque when the target speed of the vehicle 100 is set to 0 (for example, when the parking of the vehicle 100 is completed and stops) , And to control the braking device 120 to increase the braking pressure. For example, the controller 130 controls the braking device 120 to increase the braking pressure by a first level to reduce the running speed of the vehicle 100, and to release the clutch torque 0 < / RTI > to control the dual clutch transmission 110). Further, the controller 130 can release the clutch torque when the vehicle 100 is stopped (that is, when the running speed of the vehicle becomes zero). For example, releasing the clutch torque may mean controlling the clutch torque to zero.

The controller 130 controls the dual clutch transmission 110 and the braking device 120 so that the running speed of the vehicle 100 follows the target speed so that the clutch torque can be controlled within a certain range, The temperature change of the clutch may not be large. This will be described in more detail below.

3, the controller 130 controls the dual clutch transmission 110 and the braking device 120 so that the running speed of the vehicle 100 follows the target speed when the vehicle 100 is positioned in the upward sloping region . For example, the controller 130 may control the dual clutch transmission 110 to further generate a first additional torque when the vehicle 100 is located in an upward sloping region. Considering that the vehicle 100 is located in the upward sloping section, the clutch torque necessary for following the same target speed is required more than when the vehicle 100 is located in the flat section, To control the speed to follow.

3 (a) shows that the autonomous parking operation start command is received from the user from t1 to t8. (b), the solid line indicates the target speed of the vehicle 100, and the dotted line indicates the change in the running speed of the vehicle 100. [ (c) shows the braking pressure change of the braking device 120, (d) shows the change in the clutch torque, and (e) shows the temperature change of the clutch.

The vehicle 100 is controlled in a stationary state during the first period (t0 to t1). Thus, in the first section, the clutch torque is controlled to be substantially close to zero, and the braking pressure can be controlled to the first level. As the autonomous parking operation start command is received from the user in the second time period (t1 to t2), the controller 130 sets the target speed and controls the dual clutch transmission 110 (110) to set the traveling speed of the vehicle 100 to follow the target speed And the braking device 120 can be controlled.

The controller 130 controls the dual clutch transmission 110 to increase the clutch torque when the running speed of the vehicle 100 is less than the target speed and controls the dual clutch transmission 110 to decrease the clutch torque when the running speed of the vehicle is equal to or higher than the target speed. The transmission 110 can be controlled. For example, the controller 130 may control the dual clutch transmission 110 to increase the clutch torque and control the braking device 120 such that the braking pressure decreases by a first level.

In the third period (from t2 to t3), the controller 130 can control the braking device 120 to release the braking pressure when the clutch torque becomes equal to or greater than the first additional torque. Here, the first additional torque may mean a torque amount for compensating for the decrease in the running speed of the vehicle 100 due to the upward slope. The controller 130 also controls the dual clutch transmission 110 to increase the clutch torque so that when the difference between the running speed of the vehicle 100 and the target speed is within a threshold value, The transmission 110 can be controlled.

The running speed of the vehicle 100 may exceed the target speed in the fourth period (t3 to t4). During the fifth period (t4 to t5), the controller 130 may control the braking device 120 to increase the braking pressure by a second level. Therefore, the traveling speed of the vehicle 100 in the sixth section (between t5 and t6) can be reduced.

The running speed of the vehicle 100 can be lowered again below the target speed in the seventh period (t6 to t7). In this case, the controller 130 controls the dual clutch transmission 110 so as to increase the clutch torque, and when the difference between the traveling speed of the vehicle 100 and the target speed is within the threshold value, The clutch transmission 110 can be controlled.

The running speed of the vehicle 100 in the eighth section (from t7 to t8) may be substantially equal to the target speed. In the ninth period (t8 to t9), the controller 130 decreases the clutch torque when the target speed of the vehicle 100 is set to 0 (for example, when the parking of the vehicle 100 is completed and stops) , And to control the braking device 120 to increase the braking pressure. For example, the controller 130 controls the braking device 120 to increase the braking pressure by a first level to reduce the running speed of the vehicle 100, and to release the clutch torque 0 < / RTI > to control the dual clutch transmission 110). Further, the controller 130 can release the clutch torque when the vehicle 100 is stopped (that is, when the running speed of the vehicle becomes zero).

4, the controller 130 controls the dual clutch transmission 110 and the braking device 120 so that the running speed of the vehicle 100 follows the target speed when the vehicle 100 is positioned in the downward slope region . For example, the controller 130 may control the braking device (not shown) to reduce the braking pressure by a third level, which is less than the first level, when the speed of the vehicle 100 is less than the target speed while the vehicle 100 is positioned in the downward- 120). When the vehicle 100 is located in the downward slope region, the braking pressure necessary to reduce the same speed amount is required more than when the vehicle 100 is located in the flat section, In order to control the vehicle. That is, the braking pressure when the vehicle 100 is located in the downward inclination section can be controlled to be increased by an offset as compared with the braking pressure when the vehicle 100 is located in the flat section.

4 (a) shows that the autonomous parking operation start command is received from the user from t1 to t8. (b), the solid line indicates the target speed of the vehicle 100, and the dotted line indicates the change in the running speed of the vehicle 100. [ (c) shows the braking pressure change of the braking device 120, (d) shows the change in the clutch torque, and (e) shows the temperature change of the clutch.

The vehicle 100 is controlled in a stationary state during the first period (t0 to t1). Thus, in the first section, the clutch torque is controlled to be substantially close to zero, and the braking pressure can be controlled to the first level. As the autonomous parking operation start command is received from the user in the second time period (t1 to t2), the controller 130 sets the target speed and controls the dual clutch transmission 110 (110) to set the traveling speed of the vehicle 100 to follow the target speed And the braking device 120 can be controlled.

The controller 130 controls the dual clutch transmission 110 to increase the clutch torque when the running speed of the vehicle 100 is less than the target speed and controls the dual clutch transmission 110 to decrease the clutch torque when the running speed of the vehicle is equal to or higher than the target speed. The transmission 110 can be controlled. For example, the controller 130 may control the dual clutch transmission 110 to increase the clutch torque and control the braking device 120 such that the braking pressure decreases by a third level. Here, the third level may be smaller than the first level and higher than the second level, but it is not limited thereto, and may be set differently according to the design.

In the third period (t2 to t3), the controller 130 can control the braking device 120 to release the braking pressure. The controller 130 also controls the dual clutch transmission 110 to increase the clutch torque so that when the difference between the running speed of the vehicle 100 and the target speed is within a threshold value, The transmission 110 can be controlled.

The running speed of the vehicle 100 may exceed the target speed in the fourth period (t3 to t4). During the fifth period (t4 to t5), the controller 130 may control the braking device 120 to increase the braking pressure by a second level. Therefore, the traveling speed of the vehicle 100 in the sixth section (between t5 and t6) can be reduced. The running speed of the vehicle 100 can be lowered again below the target speed in the seventh period (t6 to t7). In this case, the controller 130 controls the dual clutch transmission 110 so as to increase the clutch torque, and when the difference between the traveling speed of the vehicle 100 and the target speed is within the threshold value, The clutch transmission 110 can be controlled.

The running speed of the vehicle 100 in the eighth section (from t7 to t8) may be substantially equal to the target speed. In the ninth period (t8 to t9), the controller 130 decreases the clutch torque when the target speed of the vehicle 100 is set to 0 (for example, when the parking of the vehicle 100 is completed and stops) , And to control the braking device 120 to increase the braking pressure. For example, the controller 130 controls the braking device 120 to increase the braking pressure by a third level to reduce the running speed of the vehicle 100, and to release the clutch torque (i.e., 0 < / RTI > to control the dual clutch transmission 110). Further, the controller 130 can release the clutch torque when the vehicle 100 is stopped (that is, when the running speed of the vehicle becomes zero).

1, when the driving speed of the vehicle 100 is decreased in the section where the clutch torque of the dual clutch is equal to or greater than the predetermined value (for example, when the vehicle 100 is decelerated by the overspeed inhibition threshold) , The dual clutch transmission 110 may be controlled to further generate the second additional torque.

The parking space searching unit 140 can search for a parking space for parking the vehicle 100. [ For example, the parking space searching unit 140 can search the parking space using the sensing information obtained through the radar sensor, the Lidar sensor, or the like.

The parking locus generating unit 150 may generate a moving locus for parking the vehicle 100 in the parking space in consideration of the position of the vehicle 100 and the position of the searched parking space.

The position recognition unit 160 can confirm the current position of the vehicle 100. [ For example, the position recognition unit 160 can confirm the current position of the vehicle 100 using the GPS sensor.

Generally, since the driver does not need to intervene when performing the autonomous parking operation of the vehicle 100, the dual clutch transmission 110 controls the clutch torque so that the speed of the vehicle 100 follows the creep running speed. On the other hand, the target speed set at the time of performing the autonomous parking operation of the vehicle 100 is lower than the creep running speed, and the braking device 120 controls the running speed of the vehicle 100 to follow the target speed. At this time, the dual clutch transmission 110 continuously increases the clutch torque so that the running speed of the vehicle 100 follows the creep running speed regardless of the operation of the braking device 120, Frictional heat is generated. However, since the controller 130 of the vehicle 100 according to the embodiment of the present invention controls the dual clutch transmission 110 and the braking device 120 so that the running speed of the vehicle 100 follows the target speed, It is possible to lower the heat generation of the heat exchanger. Therefore, the durability of the vehicle 100 can be improved, and the commerciality of the vehicle 100 having the autonomous parking function can be improved.

5 is a flowchart illustrating a method of controlling a speed of a vehicle according to an embodiment of the present invention.

Referring to FIG. 5, a method of controlling a speed of a vehicle according to an embodiment of the present invention includes a step S110 of setting a target speed of a vehicle, a step S120 of controlling clutch torque and braking pressure, A step S140 of stopping the vehicle when reaching the target position, a step S150 of determining whether the stopping has been completed, and a step S160 of releasing the clutch torque upon completion of the stopping of the vehicle .

In step S120, the clutch torque is controlled (S121), the required torque is determined (S122), the braking pressure is released (S123), the vehicle speed is controlled (S124) (S125), controlling the braking pressure when the target vehicle speed is exceeded (S126), and determining whether the running speed of the vehicle is within a predetermined range with respect to the target vehicle speed (S127) .

Hereinafter, steps S110 to S160 described above will be described in more detail with reference to Figs.

In step S110, the controller 130 can set the target speed of the vehicle 100. [

In step S121, the controller 130 may control the dual clutch transmission 110 to increase the clutch torque.

In step S122, the controller 130 can determine whether clutch torque (first additional torque) necessary to control the running speed of the vehicle 100 to follow the target speed is formed 2 section).

In step S123, the controller 130 can control the braking device 120 to release the braking pressure when it is determined that the necessary clutch torque has been established.

In step S124, the controller 130 can control the vehicle speed by controlling the dual clutch transmission 110 in a state in which the braking pressure is released.

In step S125, the controller 130 can determine whether the running speed of the vehicle 100 exceeds the target vehicle speed.

In step S126, the controller 130 may control the braking device 120 to increase the braking pressure when the running speed of the vehicle 100 exceeds the target vehicle speed.

In step S127, the controller 130 can determine whether the running speed of the vehicle 100 is within a predetermined range from the target vehicle speed. The controller 130 can control the dual clutch transmission 110 to maintain or reduce the clutch torque when the running speed of the vehicle 100 is within the predetermined range of the target vehicle speed.

In step S130, the controller 130 may determine whether the vehicle 100 is located at the target position. For example, the target position may be a searched parking space of the vehicle 100. [

In step S140, the controller 130 may increase the braking pressure of the vehicle 100 when it is determined that the vehicle 100 is located at the target position.

In step S150, the controller 130 may determine whether the vehicle 100 is stopped.

In step S160, the controller 130 may control the dual clutch transmission 110 to release the clutch torque when it is determined that the vehicle 100 is stopped.

6 shows a vehicle according to another embodiment of the present invention.

Referring to FIG. 6, the vehicle 100 according to another embodiment of the present invention may further include a temperature management unit 170 in comparison with the vehicle 100 shown in FIG.

The temperature management unit 170 can manage the temperature of the dual clutch transmission 110. [ For example, when the temperature of the dual clutch transmission 110 is higher than the critical temperature when the dual clutch transmission 110 is wet, cooling water can be used to cool the dual clutch transmission 110. In addition, when the dual clutch transmission 110 is dry, the temperature management unit 170 transmits a message to the controller 130 indicating that the vehicle speed control for the autonomous parking operation is not possible, thereby preventing the wear of the dual clutch 111 have.

7 is a flowchart illustrating a method of controlling a speed of a vehicle according to another embodiment of the present invention. 8 is a graph for explaining a speed control method of a vehicle according to another embodiment of the present invention.

8A shows that the autonomous parking operation start command is received from the user from t1 to t8. (b), the solid line indicates the target speed of the vehicle 100, and the dotted line indicates the change in the running speed of the vehicle 100. [ (c) shows the braking pressure change of the braking device 120, (d) shows the change in the clutch torque, and (e) shows the temperature change of the clutch. The vehicle 100 is controlled in a stationary state during the first period (t0 to t1). Thus, in the first section, the clutch torque is controlled to be substantially close to zero, and the braking pressure can be controlled to the first level.

Referring to FIGS. 7 and 8, in step S210, the controller 130 may set the target speed of the vehicle 100.

In step S220, the controller 130 may control the dual clutch transmission 110 to increase the clutch torque. The controller 130 controls the dual clutch transmission 110 to increase the clutch torque and controls the braking device 120 to decrease the braking pressure by the first level in the second period (between t1 and t2) .

In step S230, the controller 130 may determine whether clutch torque necessary for controlling the running speed of the vehicle 100 to follow the target speed has been formed. For example, in the second period (from t1 to t2), the controller 130 can determine whether or not the clutch torque necessary for controlling the running speed of the vehicle 100 to follow the target speed is formed.

In step S240, the controller 130 can control the braking device 120 to release the braking pressure when it is determined that the necessary clutch torque is formed. The controller 130 in the third section (between t2 and t3) of FIG. 8 may control the braking device 120 to release the braking pressure.

In step S250, the controller 130 can control the vehicle speed by controlling the dual clutch transmission 110 in a state in which the braking pressure is released.

In step S260, the controller 130 may determine whether the running speed of the vehicle 100 is decreasing. For example, the running speed of the vehicle 100 may decrease in a state where the clutch torque is equal to or higher than a predetermined value in the third period (t2 to t3) in Fig. This may be the case, for example, when the vehicle 100 enters the upward sloping region of the overspeed inhibition threshold, and the vehicle 100 may require additional clutch torque to exceed the overspeed inhibition threshold.

In step S270, the controller 130 may request (CMD _torque ) an additional clutch torque (e.g., a second additional torque) to the dual clutch transmission 110. [ For example, at a time point t3 in FIG. 8, the controller 130 may request an additional clutch torque (e.g., a second additional torque) to the dual clutch transmission 110. [

In step S280, the controller 130 may control the dual clutch transmission 110 to further generate additional clutch torque. Therefore, the running speed of the vehicle 100 can be increased in the fourth section (between t3 and t4) in Fig.

In step S290, the controller 130 may determine whether the running speed of the vehicle 100 is increasing.

In step S300, the controller 130 may request release of the additional clutch torque (e.g., second additional torque) to the dual clutch transmission 110 when the running speed of the vehicle 100 increases. For example, at a time t4 in FIG. 8, the controller 130 may request the dual clutch transmission 110 to release the additional clutch torque (second additional torque).

In step S310, the controller 310 may determine whether the running speed of the vehicle 100 exceeds the target speed.

In step S320, the controller 130 may control the braking device 120 to increase the braking pressure when the running speed of the vehicle 100 exceeds the target vehicle speed. For example, in the fifth section (between t4 and t5) of FIG. 8, the controller 130 may control the braking device 120 to increase the braking pressure by a second level.

In step S330, the controller 130 may determine whether the running speed of the vehicle 100 is insufficient for the target speed.

In step S340, the controller 130 may control the dual clutch transmission 110 to increase the clutch torque when the running speed of the vehicle 100 is insufficient for the target speed. For example, in the sixth section (between t5 and t6) of FIG. 8, the controller 130 may control the dual clutch transmission 110 to increase the clutch torque.

In step S350, the controller 130 can release the braking pressure.

In step S360, the controller 130 may determine whether the vehicle 100 is located at the target position. For example, the target position may be a searched parking space of the vehicle 100. [ The controller 130 may increase the braking pressure of the vehicle 100 when it is determined that the vehicle 100 is located at the target position. The controller 130 may control the braking device 120 to increase the braking pressure in the seventh section (between t6 and t7) of Fig.

In step S370, the controller 130 may determine whether the vehicle 100 is stopped.

In step S380, the controller 130 may control the dual clutch transmission 110 to release the clutch torque when it is determined that the vehicle 100 is stopped. In the seventh section (between t6 and t7) of Fig. 8, the controller 130 can control the dual clutch transmission 110 to release the clutch torque.

9 is a block diagram illustrating a computing system for implementing a vehicle speed control method in accordance with an embodiment of the present invention.

Referring to FIG. 9, the vehicle speed control method according to an embodiment of the present invention described above may be implemented through a computing system. The computing system 1000 includes at least one processor 1100, a memory 1300, a user interface input device 1400, a user interface output device 1500, a storage 1600, and / And a network interface 1700.

The processor 1100 may be a central processing unit (CPU) or a memory device 1300 and / or a semiconductor device that performs processing for instructions stored in the storage 1600. Memory 1300 and storage 1600 may include various types of volatile or non-volatile storage media. For example, the memory 1300 may include a ROM (Read Only Memory) and a RAM (Random Access Memory).

Thus, the steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by processor 1100, or in a combination of the two. The software module may reside in a storage medium (i.e., memory 1300 and / or storage 1600) such as a RAM memory, a flash memory, a ROM memory, an EPROM memory, an EEPROM memory, a register, a hard disk, a removable disk, You may. An exemplary storage medium is coupled to the processor 1100, which can read information from, and write information to, the storage medium. Alternatively, the storage medium may be integral to the processor 1100. [ The processor and the storage medium may reside within an application specific integrated circuit (ASIC). The ASIC may reside within the user terminal. Alternatively, the processor and the storage medium may reside as discrete components in a user terminal.

The foregoing description is merely illustrative of the technical idea of the present invention, and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention.

Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

100: vehicle
110: Dual clutch transmission
111: Dual clutch
112: Gear box
120: Braking device
130:
140: Parking space search section
150: a parking locus generating unit
160:
170:

Claims (20)

A dual clutch transmission for adjusting the running speed of the vehicle based on the clutch torque;
A braking device for braking the vehicle to reduce the running speed of the vehicle; And
And a controller for setting the target speed of the vehicle and controlling the dual clutch transmission and the braking device so that the running speed of the vehicle follows the set target speed. The method according to claim 1,
Wherein the target speed is defined as a speed lower than a creep running speed of the vehicle. 3. The method of claim 2,
Wherein the controller controls the dual clutch transmission to increase the clutch torque when the running speed of the vehicle is less than the target speed and to decrease the clutch torque when the vehicle speed is equal to or greater than the target speed, Of the vehicle. The method of claim 3,
Wherein the braking device brakes the vehicle by regulating braking pressure. 5. The method of claim 4,
Wherein the controller controls the braking device to reduce the braking pressure by a first level when the running speed of the vehicle is less than the target speed, and when the running speed of the vehicle is equal to or more than the target speed, The control means controls the braking device to increase the braking force of the braking device. 6. The method of claim 5,
Wherein the controller controls the braking device so as to reduce the braking pressure by a third level smaller than the first level when the speed of the vehicle is less than the target speed in a state where the vehicle is positioned in a downward slope section vehicle. 3. The method of claim 2,
Wherein the controller controls the dual clutch transmission to further generate a first additional torque when the vehicle is located in an upward sloping section. 8. The method of claim 7,
Wherein the controller controls the braking device to reduce the braking pressure until the clutch torque increases and becomes equal to or greater than the first additional torque when the vehicle is located in an upward sloping section, And controls the braking device to release the braking pressure when the torque exceeds the predetermined value. 3. The method of claim 2,
Wherein the controller controls the dual clutch transmission to decrease the clutch torque when the target speed of the vehicle is set to zero and controls the braking device to increase the braking pressure. 3. The method of claim 2,
Wherein the controller controls the dual clutch transmission to further generate a second additional torque when the running speed of the vehicle decreases in a section where the clutch torque is equal to or greater than a predetermined value. Setting a target speed of the vehicle; And
And controlling the dual clutch transmission and the braking device such that the running speed of the vehicle follows the target speed based on the set target speed. 12. The method of claim 11,
Wherein the target speed is defined as a speed lower than a creep running speed of the vehicle. 13. The method of claim 12,
Wherein the step of controlling the dual clutch transmission and the braking device such that the running speed of the vehicle follows the target speed based on the set target speed is performed by increasing the clutch torque so as to increase the clutch torque when the running speed of the vehicle is less than the target speed. And controls the clutch so as to decrease the clutch torque when the speed of the vehicle is equal to or higher than the target speed. 14. The method of claim 13,
Wherein the braking device brakes the vehicle by regulating braking pressure. 15. The method of claim 14,
Wherein the step of controlling the dual clutch transmission and the braking device such that the running speed of the vehicle follows the target speed based on the set target speed is performed by decreasing the braking pressure by a first level when the running speed of the vehicle is less than the target speed Wherein the braking device controls the braking device to increase the braking pressure by a second level when the running speed of the vehicle is equal to or more than the target speed. 16. The method of claim 15,
Wherein the step of controlling the dual clutch transmission and the braking device such that the running speed of the vehicle follows the target speed based on the set target speed is performed when the speed of the vehicle is less than the target speed in a state where the vehicle is positioned in the downward slope section And the braking device is controlled so as to reduce the braking pressure by a third level smaller than the first level. 13. The method of claim 12,
Wherein controlling the dual clutch transmission and the braking device such that the running speed of the vehicle follows the target speed based on the set target speed may include controlling the dual- Wherein the clutch control device controls the clutch transmission. 18. The method of claim 17,
Controlling the dual clutch transmission and the braking device such that the running speed of the vehicle follows the target speed based on the set target speed, when the vehicle is positioned in the upward sloping section, the clutch torque increases and the first additional torque , And controls the braking device to release the braking pressure when the clutch torque becomes equal to or greater than the first additional torque. Speed control method. 13. The method of claim 12,
Wherein the step of controlling the dual clutch transmission and the braking device such that the running speed of the vehicle follows the target speed based on the set target speed is performed when the target speed of the vehicle is set to zero, Controlling the clutch transmission, and controlling the braking device to increase the braking pressure. 13. The method of claim 12,
Wherein the step of controlling the dual clutch transmission and the braking device such that the running speed of the vehicle follows the target speed based on the set target speed is performed when the running speed of the vehicle is decreased in a section where the clutch torque is equal to or greater than a predetermined value, And the dual clutch transmission is controlled so as to further generate additional torque.

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